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T
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with
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ec
o
n
f
i
g
u
r
ab
le
cir
c
u
its
.
I
n
th
is
ca
s
e,
th
e
co
-
d
esig
n
m
eth
o
d
is
n
ec
ess
ar
y
to
o
p
tim
ize
th
e
ap
p
licatio
n
s
d
ev
elo
p
e
d
th
r
o
u
g
h
s
u
itab
le
h
ar
d
war
e
a
n
d
s
o
f
twar
e
p
ar
titi
o
n
in
g
[5
]
.
T
h
e
h
ar
d
war
e
s
o
lu
tio
n
s
allo
w
r
ap
id
p
r
o
to
ty
p
in
g
o
f
t
h
e
en
v
is
ag
ed
a
p
p
licatio
n
a
n
d
en
s
u
r
e
its
au
to
n
o
m
y
.
W
h
ile
s
o
f
twar
e
s
o
lu
tio
n
s
allo
w
o
p
tim
izatio
n
o
f
u
s
in
g
th
e
h
ar
d
war
e
r
eso
u
r
ce
s
an
d
p
er
f
o
r
m
th
e
co
m
p
lex
c
o
m
p
u
tin
g
d
u
e
to
th
e
alg
o
r
ith
m
s
an
d
m
o
d
els
u
s
ed
[6
]
.
Fo
r
ex
am
p
le,
a
p
r
ed
ictiv
e
co
n
tr
o
l
m
o
d
el
f
o
r
au
to
n
o
m
o
u
s
ca
r
s
was
d
ev
elo
p
ed
to
p
r
e
d
ict
th
e
p
ath
t
o
b
e
f
o
l
lo
wed
wh
ile
co
n
s
id
er
in
g
v
ar
y
in
g
r
o
a
d
co
n
d
itio
n
s
an
d
s
m
all
-
an
g
le
ass
u
m
p
tio
n
s
as
m
ea
s
u
r
ab
le
d
is
tu
r
b
an
ce
s
[
7
]
.
Fo
r
th
e
s
am
e
o
b
jectiv
e
o
f
p
ath
tr
ac
k
in
g
,
th
e
au
th
o
r
s
in
[
8
]
im
p
lem
en
ted
a
f
u
zz
y
l
o
g
ic
c
o
n
tr
o
ller
in
to
a
Xilin
x
Mic
r
o
b
laze
s
o
f
t
p
r
o
ce
s
s
o
r
co
r
e
in
teg
r
ate
d
in
to
a
So
C
.
T
h
e
co
n
tr
o
l
was
ap
p
lied
to
an
ac
tu
al
d
if
f
e
r
en
ti
al
-
d
r
iv
e
Pio
n
ee
r
3
-
DX8
r
o
b
o
t
.
A
r
ea
l
-
tim
e
f
u
zz
y
co
n
tr
o
ller
f
o
r
Om
n
i
-
Me
ca
n
u
m
-
wh
ee
led
au
t
o
n
o
m
o
u
s
v
e
h
i
cles
was
d
ev
elo
p
ed
t
o
ac
h
i
ev
e
an
i
n
tellig
en
t
tr
ac
k
in
g
co
n
tr
o
l
[9
]
.
An
FP
GA
em
b
ed
d
e
d
p
r
o
ce
s
s
o
r
was
u
s
ed
to
e
x
ec
u
te
t
h
e
f
u
zz
y
c
o
m
p
u
tin
g
a
n
d
k
in
em
ati
cs
m
o
d
el
-
b
ased
co
n
tr
o
l.
An
o
n
lin
e
lear
n
in
g
s
y
s
tem
o
f
a
f
u
zz
y
co
n
tr
o
ll
er
was
p
er
f
o
r
m
e
d
to
ac
h
iev
e
a
n
ac
cu
r
ate
v
eh
icle
cr
u
is
e
co
n
tr
o
l
[1
0]
.
Mo
r
e
o
v
er
,
an
ad
ap
tiv
e
f
u
zz
y
-
n
eu
r
al
co
n
t
r
o
l
o
f
a
r
o
tatio
n
al
d
ir
ec
tio
n
o
f
r
o
b
o
tic
jo
i
n
ts
was
d
ev
elo
p
e
d
u
s
in
g
em
b
e
d
d
ed
s
il
ico
n
e
s
en
s
o
r
s
[1
1]
.
T
h
e
au
th
o
r
in
[
1
2
]
d
ev
elo
p
e
d
a
n
eu
r
al
-
f
u
zz
y
s
y
s
tem
ap
p
lied
to
a
f
lig
h
t
v
eh
icle
an
d
im
p
lem
en
ted
it
in
to
a
p
ar
allel
r
ec
o
n
f
i
g
u
r
ab
le
co
m
p
u
ter
.
I
t
is
b
ased
o
n
FP
GA
an
d
n
in
e
DSP
b
lo
ck
s
to
en
s
u
r
e
f
ast
p
r
o
to
ty
p
in
g
,
r
e
u
s
ab
ilit
y
,
an
d
h
ig
h
-
s
p
ee
d
r
u
n
-
tim
e
d
ata
p
r
o
ce
s
s
in
g
[1
3]
.
T
h
e
d
ev
elo
p
e
d
s
y
s
tem
in
clu
d
es
f
iv
e
p
r
in
cip
al
a
n
d
p
a
r
allel
Ma
m
d
an
i
f
u
zz
y
co
n
tr
o
ller
b
l
o
ck
s
,
wh
ich
en
s
u
r
e
r
ea
ch
in
g
th
e
b
est
f
lig
h
t
g
u
id
a
n
ce
,
n
av
ig
atio
n
,
an
d
f
lig
h
t
co
n
tr
o
l
co
n
d
itio
n
.
T
h
e
f
lig
h
t
v
e
h
icle
is
d
esig
n
ed
to
ca
r
r
y
o
u
t
s
ev
er
al
r
is
k
task
s
lik
e
r
escu
e
w
o
r
k
s
,
as
well
as
th
e
d
ata
co
llectio
n
u
s
ed
in
e
n
v
ir
o
n
m
en
tal
an
aly
s
is
,
as
also
ex
p
lain
ed
i
n
[
1
4
]
.
T
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
l
was
a
ls
o
in
v
esti
g
ated
to
r
ea
ch
a
n
in
tellig
en
t
v
is
io
n
b
y
au
t
o
n
o
m
o
u
s
v
eh
icles
to
p
ar
k
c
o
r
r
ec
tly
th
r
o
u
g
h
a
b
r
ak
in
g
p
r
o
ce
s
s
[
1
5
]
-
[
1
7
]
.
I
n
th
ese
wo
r
k
s
,
FP
GA
cir
cu
its
wer
e
u
s
ed
to
im
p
lem
en
t
th
e
p
r
o
p
o
s
ed
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
s
.
T
h
e
au
t
h
o
r
s
in
[
1
7
]
h
av
e
esp
ec
ially
p
r
o
p
o
s
ed
a
f
u
lly
cu
s
to
m
izab
le
h
ar
d
war
e
ar
c
h
itectu
r
e
o
f
two
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
s
f
o
r
a
u
t
o
n
o
m
o
u
s
ca
r
s
.
T
h
e
f
ir
s
t
o
n
e
was
u
s
ed
to
co
n
tr
o
l
th
e
wh
ee
l’
s
o
r
ien
tatio
n
an
d
t
h
e
s
ec
o
n
d
co
n
tr
o
lled
th
e
s
p
ee
d
o
f
th
e
wh
ee
ls
.
T
h
e
f
lex
ib
ili
ty
o
f
th
e
p
r
o
p
o
s
ed
ar
ch
itectu
r
e
allo
wed
it
to
b
e
u
s
ed
f
o
r
a
n
y
p
r
o
b
lem
a
p
p
lica
tio
n
.
I
n
[
1
8
]
,
th
e
au
t
h
o
r
s
d
ev
elo
p
ed
a
h
a
r
d
war
e
d
esig
n
o
f
a
f
u
zz
y
p
o
s
itio
n
co
r
r
ec
ti
o
n
s
y
s
tem
.
I
t
ac
ts
o
n
th
e
latitu
d
e
an
d
lo
n
g
itu
d
e
d
ata
p
r
o
v
id
e
d
b
y
a
GPS
Pm
o
d
s
en
s
o
r
.
I
t
is
also
im
p
lem
en
ted
o
n
a
T
e
r
asic
DE
1
-
So
C
d
ev
elo
p
m
e
n
t
b
ased
o
n
a
n
Alter
a
C
y
clo
n
e
V
FP
GA
to
p
er
f
o
r
m
th
e
s
p
ee
d
o
f
au
to
n
o
m
o
u
s
ca
r
s
.
T
h
e
p
r
o
ce
s
s
in
g
tim
e
o
f
th
e
f
u
zz
y
s
y
s
te
m
r
ea
ch
ed
2
1
.
5
µs.
Fu
r
th
er
m
o
r
e
,
th
e
au
th
o
r
s
in
[
1
9
]
p
r
o
v
ed
th
e
ef
f
icien
c
y
o
f
an
FP
GA
b
a
s
ed
f
u
zz
y
lo
g
ic
co
n
t
r
o
ller
co
m
p
ar
e
d
to
a
s
o
f
t
r
ea
l
-
tim
e
p
latf
o
r
m
NI
C
o
m
p
ac
tR
I
O
to
tr
ac
k
a
g
iv
en
p
o
s
itio
n
o
f
a
s
er
v
o
-
p
n
eu
m
ati
c
ac
tu
atio
n
s
y
s
tem
,
wh
ich
b
ec
o
m
es
m
o
r
e
a
cc
u
r
at
e
an
d
s
tab
le.
Mo
r
eo
v
er
,
th
e
a
u
th
o
r
s
in
[
2
0
]
d
e
v
elo
p
ed
a
r
e
al
-
tim
e
f
u
zz
y
lo
g
ic
co
n
tr
o
ller
-
b
ased
o
b
s
tacle
av
o
id
an
ce
ap
p
r
o
ac
h
.
I
t
was
ap
p
l
ied
to
Natio
n
al
I
n
s
tr
u
m
e
n
ts
’
em
b
ed
d
e
d
r
o
b
o
tic
p
latf
o
r
m
,
in
clu
d
in
g
an
FP
GA
cir
cu
it.
T
h
e
s
o
f
twar
e
d
esig
n
was
ca
r
r
ied
o
u
t
u
s
i
n
g
L
ab
VI
E
W
m
o
d
u
les.
T
h
e
f
u
zz
y
co
n
tr
o
ller
allo
wed
th
e
r
o
b
o
t
to
h
av
e
a
m
o
r
e
s
tab
le
r
esp
o
n
s
e
to
b
o
th
s
m
o
o
th
er
an
d
s
u
d
d
en
ch
a
n
g
es.
T
h
e
p
r
ev
io
u
s
m
eth
o
d
o
lo
g
y
h
as
b
e
en
f
o
llo
we
d
to
co
n
tr
o
l
th
e
m
o
v
em
en
t
o
f
a
r
o
b
o
t
ar
m
with
s
i
x
d
eg
r
ee
s
o
f
lib
er
ty
[2
1]
.
Xilin
x
Sy
s
tem
Gen
er
at
o
r
(
XSG)
to
o
l
was
also
u
s
ed
to
m
o
d
el
an
d
im
p
lem
en
t
f
u
zz
y
co
n
tr
o
ller
s
in
to
FP
GA
th
r
o
u
g
h
th
e
MA
T
L
AB
en
v
ir
o
n
m
e
n
t
[2
2
]
,
[
23]
.
I
n
d
e
ed
,
a
h
ar
d
war
e
im
p
lem
en
tati
o
n
o
f
a
r
o
ad
lan
es
d
etec
tio
n
s
y
s
tem
f
o
r
in
tellig
en
t c
ar
s
was p
er
f
o
r
m
ed
o
n
Xilin
x
Vir
tex
5
FP
GA
d
ev
ice
u
s
in
g
th
e
XSG
to
o
l
[2
4
]
,
[
2
5
]
.
T
h
e
p
u
r
p
o
s
e
is
to
im
p
r
o
v
e
th
e
d
r
iv
e
r
s
af
ety
o
n
th
e
r
o
ad
s
.
W
ith
in
th
is
f
r
am
ewo
r
k
,
we
h
av
e
d
ev
elo
p
e
d
a
h
ar
d
war
e
s
p
ee
d
f
u
zz
y
lo
g
ic
co
n
tr
o
l
ler
o
f
an
au
to
n
o
m
o
u
s
v
eh
icle
an
d
im
p
l
em
en
ted
it
o
n
a
Xilin
x
Z
y
n
q
b
o
ar
d
.
T
h
e
co
n
tr
o
ller
co
n
s
id
er
s
th
e
p
r
esen
ce
o
f
an
o
b
s
tacle
an
d
th
e
v
alu
e
o
f
th
e
am
b
ien
t
tem
p
er
atu
r
e
(
if
th
is
is
h
ig
h
,
th
e
s
p
ee
d
m
u
s
t
b
e
d
ec
r
ea
s
ed
)
.
I
n
ad
d
itio
n
,
th
e
ap
p
licatio
n
en
s
u
r
ed
th
at
th
e
v
eh
icle
p
r
o
v
id
e
d
th
e
n
ec
ess
ar
y
in
f
o
r
m
atio
n
o
n
its
s
tatu
s
an
d
th
e
d
ec
is
io
n
s
th
a
t
it
m
ad
e.
T
h
e
n
o
v
el
p
r
o
p
o
s
ed
h
ar
d
war
e
ar
c
h
itectu
r
e
is
co
n
s
id
er
ed
f
lex
ib
le
th
an
k
s
to
th
e
F
PGA
r
ec
o
n
f
ig
u
r
a
b
le
ar
ch
itectu
r
e
a
n
d
th
e
f
u
zz
y
alg
o
r
ith
m
d
ev
elo
p
ed
.
I
n
d
ee
d
,
wh
en
th
e
f
u
zz
y
i
n
p
u
t
an
d
o
u
tp
u
t
v
ar
iab
les
ch
an
g
e,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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t J Reco
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f
ig
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r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
F
P
GA
b
a
s
ed
co
-
d
esig
n
o
f
a
s
p
ee
d
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
a
p
p
l
ied
to
a
n
a
u
to
n
o
mo
u
s
c
a
r
(
E
mn
a
A
r
id
h
i)
197
we
h
av
e
o
n
ly
to
m
o
d
if
y
th
e
ir
v
alu
es
in
th
e
alg
o
r
ith
m
(
in
th
e
d
ec
lar
atio
n
s
ec
tio
n
o
f
s
ig
n
als).
T
h
en
,
th
e
p
r
o
p
o
s
ed
ar
ch
itectu
r
e
o
f
th
e
f
u
zz
y
co
n
tr
o
ller
is
s
u
itab
le
f
o
r
m
an
y
o
th
e
r
ap
p
licatio
n
s
.
T
h
e
p
a
p
er
is
s
tr
u
ctu
r
ed
as
f
o
llo
ws:
Sectio
n
2
g
i
v
es
th
e
Si
m
u
lin
k
m
o
d
el
o
f
th
e
s
p
ee
d
f
u
zz
y
lo
g
ic
co
n
tr
o
lle
r
t
o
f
ix
th
e
f
u
zz
y
r
u
l
es.
Sectio
n
3
d
e
p
icts
th
e
m
eth
o
d
u
s
ed
to
d
e
v
elo
p
th
e
h
ar
d
w
ar
e/so
f
twar
e
d
esig
n
o
f
th
e
s
p
ee
d
f
u
zz
y
lo
g
ic
co
n
tr
o
l.
T
h
e
s
im
u
latio
n
an
d
im
p
le
m
en
tatio
n
r
esu
lts
ar
e
r
ep
o
r
ted
in
s
ec
tio
n
4
.
T
h
e
las
t
s
ec
tio
n
is
d
ev
o
ted
to
c
o
n
clu
d
in
g
th
e
p
ap
er
.
2.
M
O
DE
L
L
I
NG
O
F
T
H
E
F
U
Z
Z
Y
L
O
G
I
C
CO
N
T
RO
L
L
E
R
USNG
M
A
T
L
AB
/
SI
M
U
L
I
NK
E
NVI
RO
NM
E
N
T
T
h
e
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
c
o
n
s
id
er
s
th
e
s
p
ee
d
er
r
o
r
,
th
e
s
u
r
r
o
u
n
d
in
g
te
m
p
er
atu
r
e,
an
d
th
e
d
is
tan
ce
f
r
o
m
a
n
o
b
s
tacle
th
r
o
u
g
h
a
s
o
n
ar
s
en
s
o
r
.
T
h
e
d
er
iv
ativ
e
s
p
ee
d
er
r
o
r
is
also
co
n
s
i
d
er
e
d
as
an
in
p
u
t
f
o
r
th
e
co
n
tr
o
ller
i
n
o
r
d
er
to
h
av
e
i
n
f
o
r
m
atio
n
ab
o
u
t
th
e
r
ea
ctio
n
s
p
ee
d
o
f
th
e
s
y
s
tem
.
T
h
e
o
u
t
p
u
t
s
ig
n
al
is
th
e
s
p
ee
d
ex
p
r
ess
ed
in
(
r
p
m
)
.
T
h
e
in
p
u
t
s
an
d
o
u
tp
u
ts
o
f
th
e
c
o
n
tr
o
ller
,
th
e
f
u
zz
y
r
u
les
an
d
th
e
c
o
m
p
u
tatio
n
m
et
h
o
d
o
f
th
e
co
n
tr
o
l
s
ig
n
al
ap
p
lied
t
o
th
e
ca
r
ar
e
s
u
b
s
eq
u
en
tly
p
e
r
f
o
r
m
ed
.
2
.
1
.
P
rinciple o
f
t
he
f
uzzy
lo
g
ic
co
ntr
o
l
T
h
e
f
u
zz
y
lo
g
ic
co
n
tr
o
l
c
o
n
s
is
ts
o
f
th
r
ee
m
ajo
r
m
o
d
u
les:
th
e
f
u
zz
if
ier
,
th
e
in
f
er
en
ce
,
wh
ic
h
is
d
r
iv
en
b
y
th
e
f
u
zz
y
r
u
les
,
an
d
t
h
e
d
ef
u
zz
if
ier
,
as sh
o
wn
in
Fig
u
r
e
1
.
Fig
u
r
e
1
.
Ar
ch
itectu
r
e
o
f
th
e
f
u
zz
y
lo
g
ic
c
o
n
tr
o
ller
T
h
e
f
u
zz
if
ier
e
n
co
d
es
th
e
cr
i
s
p
m
ea
s
u
r
ed
v
alu
es
o
f
ea
c
h
s
y
s
tem
p
ar
am
eter
(
am
b
ien
t
tem
p
er
atu
r
e,
s
p
ee
d
an
d
its
d
er
i
v
ativ
e
er
r
o
r
s
,
an
d
s
o
n
ar
)
in
to
a
f
u
zz
y
ter
m
u
s
in
g
th
e
g
iv
en
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
.
T
h
e
in
f
er
en
ce
m
o
d
u
le
allo
ws
id
en
tify
in
g
th
e
s
u
b
s
et
o
f
f
u
zz
y
r
u
les
th
at
ca
n
b
e
f
ir
ed
an
d
d
r
aw
ad
eq
u
ate
f
u
zz
y
co
n
s
eq
u
en
ce
s
[
1
7
]
.
Her
ein
,
we
h
av
e
u
s
ed
th
e
Ma
m
d
an
i
Mi
n
-
Ma
x
p
r
o
ce
s
s
.
Fin
ally
,
th
e
d
ef
u
zz
if
ier
d
ec
o
d
es
th
e
f
u
zz
y
v
a
r
iab
le
(
s
p
ee
d
c
o
n
tr
o
l
s
ig
n
al)
an
d
c
o
m
p
u
tes
th
e
co
r
r
esp
o
n
d
in
g
cr
is
p
v
alu
e
u
s
in
g
th
e
ce
n
ter
o
f
g
r
av
ity
m
eth
o
d
.
T
h
ese
m
o
d
u
le
s
a
r
e
d
escr
ib
ed
n
e
x
t.
2
.
2
.
M
o
del o
f
t
he
s
peed
f
uzz
y
co
ntr
o
ller
2
.
2
.
1
.
F
uzzif
ier
Fo
r
all
f
u
zz
y
in
p
u
t
v
ar
iab
les,
as
well
as
th
e
f
u
zz
y
o
u
tp
u
t,
we
h
av
e
ch
o
s
en
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
,
wh
ic
h
ar
e
illu
s
tr
ated
in
Fig
u
r
e
2
.
Fu
r
th
e
r
m
o
r
e
,
th
e
lin
g
u
is
tic
ter
m
s
an
d
th
e
co
r
r
esp
o
n
d
in
g
u
n
iv
er
s
es
o
f
th
e
d
is
co
u
r
s
e
o
f
ea
c
h
in
p
u
t
an
d
o
u
t
p
u
t v
a
r
iab
le
ar
e
s
u
m
m
ar
ized
in
T
ab
le
1
.
Fo
r
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
s
,
th
e
d
eter
m
in
atio
n
o
f
th
e
tr
u
th
d
eg
r
ee
μ
o
f
ea
ch
lin
g
u
is
tic
ter
m
is
ca
r
r
ied
o
u
t u
s
in
g
(
1
)
o
r
(
2
)
ac
co
r
d
in
g
to
h
a
v
in
g
an
in
cr
ea
s
in
g
o
r
d
ec
r
ea
s
in
g
s
lo
p
e,
r
esp
e
ctiv
ely
,
as
s
h
o
w
n
in
Fig
u
r
e
3
.
=
(
_
−
1
)
_
−
1
(
1
)
=
1
−
(
_
−
_
)
2
−
_
(
2
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
6
4
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
10
,
No
.
3
,
No
v
em
b
er
2
0
2
1
:
19
5
–
21
1
198
Fig
u
r
e
2
.
Me
m
b
e
r
s
h
ip
f
u
n
ctio
n
s
o
f
th
e
f
u
zz
y
in
p
u
t a
n
d
o
u
tp
u
t v
ar
iab
les
T
ab
le
1
.
Un
iv
e
r
s
es o
f
th
e
d
is
c
o
u
r
s
e
o
f
i
n
p
u
t a
n
d
o
u
tp
u
t
v
ar
i
ab
les
F
u
z
z
y
i
n
p
u
t
a
n
d
o
u
t
p
u
t
v
a
r
i
a
b
l
e
s
U
n
i
v
e
r
se
o
f
t
h
e
d
i
sc
o
u
r
s
e
A
mb
i
e
n
t
t
e
m
p
e
r
a
t
u
r
e
(
°
C
)
c
o
l
d
x
c
o
l
d
ϵ
[
-
5
1
1
]
mo
d
e
r
a
t
e
x
mo
d
e
r
a
t
e
ϵ [
0
2
6
]
h
o
t
x
h
o
t
ϵ [
1
5
6
0
]
S
o
n
a
r
(
m)
v
n
e
a
r
(
v
e
r
y
n
e
a
r
)
x
v
n
e
a
r
ϵ [
0
2
]
n
e
a
r
x
n
e
a
r
ϵ
[
1
5
]
f
a
r
x
f
a
r
ϵ [
2
6
]
v
f
a
r
(
v
e
r
y
f
a
r
)
x
v
f
a
r
ϵ [5
7
]
S
p
e
e
d
e
r
r
o
r
/
d
e
r
i
v
a
t
i
v
e
s
p
e
e
d
e
r
r
o
r
(
c
m/
s)
h
n
e
g
(
h
i
g
h
n
e
g
a
t
i
v
e
)
x
h
n
e
g
ϵ
[
-
5
0
-
3
0
]
n
e
g
(
n
e
g
a
t
i
v
e
)
x
n
e
g
ϵ [
-
5
0
0
]
z
e
r
o
x
z
e
r
o
ϵ
[
-
3
0
1
4
]
p
o
s
(
p
o
si
t
i
v
e
)
x
p
o
s ϵ
[
0
3
0
]
h
p
o
s (
h
i
g
h
p
o
s
i
t
i
v
e
)
x
h
p
o
s ϵ
[
1
4
5
0
]
C
o
n
t
r
o
l
si
g
n
a
l
(
r
p
m)
v
e
r
y
l
o
w
x
v
e
r
y
l
o
w
ϵ [0
5
0
]
l
o
w
x
l
o
w
ϵ [
0
1
1
0
]
mo
d
e
r
a
t
e
x
mo
d
e
r
a
t
e
ϵ [
5
0
1
7
0
]
h
i
g
h
x
h
i
g
h
ϵ
[
1
1
0
2
3
0
]
v
e
r
y
h
i
g
h
x
v
e
r
y
h
i
g
h
ϵ [
1
7
0
3
0
0
]
Fig
u
r
e
3
.
T
r
ia
n
g
u
lar
ty
p
e
m
e
m
b
er
s
h
ip
f
u
n
ctio
n
2
.
2
.
2
.
F
uzzy
rules
T
o
th
o
r
o
u
g
h
ly
co
n
tr
o
l
th
e
b
eh
av
io
r
o
f
th
e
ca
r
,
we
h
a
v
e
d
ef
i
n
ed
4
4
r
u
les
th
at
m
ain
ly
co
n
s
is
t
o
f
:
(
i)
I
f
th
e
am
b
ien
t
tem
p
e
r
atu
r
e
is
h
o
t
,
th
en
th
e
s
p
ee
d
is
v
er
y
lo
w.
(
i
i)
I
f
th
e
s
o
n
ar
is
v
er
y
n
ea
r
o
r
n
ea
r
,
th
e
n
th
e
s
p
ee
d
is
v
er
y
lo
w
o
r
lo
w,
r
esp
ec
tiv
el
y
.
Fo
r
a
c
o
ld
o
r
m
o
d
e
r
ate
tem
p
er
atu
r
e,
t
h
e
r
u
les ar
e
g
iv
en
in
T
ab
le
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
F
P
GA
b
a
s
ed
co
-
d
esig
n
o
f
a
s
p
ee
d
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
a
p
p
l
ied
to
a
n
a
u
to
n
o
mo
u
s
c
a
r
(
E
mn
a
A
r
id
h
i)
199
T
ab
le
2
.
Fu
zz
y
r
u
les wh
en
t
h
e
am
b
ien
t te
m
p
er
atu
r
e
is
co
ld
o
r
m
o
d
e
r
ate
S
p
e
e
d
e
r
r
o
r
h
n
e
g
n
e
g
z
e
r
o
pos
h
p
o
s
D
e
r
i
v
a
t
i
v
e
sp
e
e
d
e
r
r
o
r
h
n
e
g
v
e
r
y
l
o
w
v
e
r
y
l
o
w
v
e
r
y
l
o
w
l
o
w
mo
d
e
r
a
t
e
n
e
g
l
o
w
l
o
w
l
o
w
h
i
g
h
v
e
r
y
h
i
g
h
z
e
r
o
v
e
r
y
l
o
w
(
v
e
r
y
)
l
o
w
mo
d
e
r
a
t
e
h
i
g
h
v
e
r
y
h
i
g
h
P
o
s
v
e
r
y
l
o
w
l
o
w
mo
d
e
r
a
t
e
v
e
r
y
(
h
i
g
h
)
v
e
r
y
h
i
g
h
h
p
o
s
v
e
r
y
l
o
w
l
o
w
l
o
w
l
o
w
v
e
r
y
h
i
g
h
h
n
e
g
v
e
r
y
l
o
w
v
e
r
y
l
o
w
v
e
r
y
l
o
w
l
o
w
mo
d
e
r
a
t
e
I
t
is
wo
r
th
n
o
tin
g
th
at
wh
e
n
th
e
er
r
o
r
s
p
ee
d
is
n
eg
ativ
e
an
d
th
e
d
er
iv
ativ
e
o
n
e
is
ze
r
o
,
t
h
e
s
p
ee
d
is
lo
w
o
r
v
er
y
lo
w
wh
en
th
e
o
b
s
tacle
(
r
ef
er
r
ed
b
y
th
e
s
o
n
ar
s
ig
n
al)
is
f
ar
o
r
v
er
y
f
ar
,
r
esp
ec
tiv
ely
.
Ho
wev
er
,
wh
en
b
o
th
th
e
e
r
r
o
r
s
p
ee
d
an
d
th
e
d
er
i
v
ativ
e
o
n
e
is
p
o
s
itiv
e,
th
e
s
p
ee
d
is
h
ig
h
o
r
v
e
r
y
h
i
g
h
ac
c
o
r
d
in
g
t
o
th
e
d
is
tan
ce
f
r
o
m
th
e
o
b
s
tacle
r
es
p
ec
tiv
ely
f
ar
o
r
v
e
r
y
f
a
r
.
T
h
e
u
s
e
o
f
th
e
‘
an
d
’
o
p
er
at
o
r
m
ea
n
s
th
at
th
e
tr
u
th
d
eg
r
ee
μ
o
f
ea
ch
o
u
t
p
u
t
lin
g
u
is
tic
ter
m
(
v
er
y
lo
w,
lo
w,
m
o
d
e
r
ate,
h
i
g
h
,
v
er
y
h
ig
h
)
tak
es
th
e
lo
west
tr
u
th
d
eg
r
ee
o
f
t
h
e
in
p
u
t
lin
g
u
is
tic
ter
m
s
ac
co
r
d
in
g
to
th
e
v
er
if
ied
o
n
e
o
r
m
an
y
r
u
les
.
2
.
2
.
3
.
Def
uzzif
ier
T
h
e
cr
is
p
v
alu
e
o
f
th
e
co
n
t
r
o
l
s
ig
n
al
x
s
p
ee
d
is
d
eter
m
in
ed
u
s
in
g
th
e
ce
n
ter
o
f
g
r
av
it
y
m
eth
o
d
ac
co
r
d
in
g
to
(
3
)
.
sp
e
e
d
=
[
v
e
ry
l
o
w
(
v
e
ry
l
o
w
)
+
x
low
(
low
)
+
x
m
o
d
e
ra
t
e
(
m
o
d
e
r
a
t
e
)
+
x
hig
h
(
hig
h
)
+
x
v
e
ry
hig
h
(
v
e
ry
hig
h
]
/
[
(
v
e
ry
l
o
w
)
.
(
low
)
.
(
m
o
d
e
ra
t
e
)
.
(
hig
h
)
.
(
v
e
ry
hig
h
)
]
(
3
)
wh
er
e
µ
is
th
e
tr
u
th
d
eg
r
ee
o
f
ea
ch
f
u
zz
y
o
u
tp
u
t
v
ar
ia
b
les
(
v
er
y
lo
w,
lo
w,
m
o
d
er
at
e,
h
ig
h
,
v
e
r
y
h
ig
h
)
co
r
r
esp
o
n
d
in
g
t
o
th
e
v
al
u
es
(x
verylow
, x
low
, x
moderate
, x
high
, x
veryh
igh
).
2
.
3
.
Sy
s
t
e
m
mo
del
B
ef
o
r
e
ca
r
r
y
in
g
o
u
t
th
e
h
ar
d
w
ar
e/so
f
twar
e
d
esig
n
o
f
th
e
p
r
o
p
o
s
ed
f
u
zz
y
co
n
tr
o
ller
,
we
h
a
v
e
test
ed
it
b
y
a
p
p
ly
in
g
a
ca
r
p
lan
t
[
2
6
]
ac
co
r
d
in
g
to
o
u
r
ca
r
d
im
en
s
io
n
s
,
s
h
o
wn
in
Fig
u
r
e
5
.
I
t
is
a
d
is
cr
ete
tr
a
n
s
f
er
f
u
n
ctio
n
g
iv
en
i
n
(
4
)
.
T
h
e
s
am
p
le
tim
e
is
eq
u
al
to
0
.
2
s
.
(
)
=
=
0.00
07
19
8
z
2
+
0.00
21
7z
+
0.0
00
39
55
3
-
2.18
z
+
1.48
7z
-
0.30
09
(
4
)
wh
er
e
u
is
th
e
co
n
tr
o
l
s
ig
n
al
th
at
is
co
n
s
id
er
ed
as
th
r
o
ttle
co
n
tr
o
l
an
d
u
s
ed
to
in
c
r
ea
s
e
o
r
d
ec
r
ea
s
e
th
e
en
g
in
e
d
r
i
v
er
f
o
r
ce
[
2
6
]
an
d
v
is
th
e
ca
r
s
p
ee
d
in
cm
/s
.
Fig
u
r
e
4
p
r
esen
ts
th
e
s
y
s
tem
m
o
d
e
l
d
ev
elo
p
ed
in
MA
T
L
AB
/S
im
u
lin
k
en
v
ir
o
n
m
en
t.
T
h
e
s
atu
r
atio
n
b
lo
c
k
lim
its
th
e
co
n
tr
o
l
s
ig
n
al
v
alu
e
to
3
0
0
an
d
th
e
s
ec
o
n
d
o
n
e
allo
ws
a
m
ax
im
u
m
s
p
ee
d
v
alu
e
o
f
9
0
cm
/s
.
Fig
u
r
e
4
.
Simu
lin
k
m
o
d
el
o
f
t
h
e
ca
r
s
p
ee
d
f
u
zz
y
c
o
n
tr
o
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
6
4
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
10
,
No
.
3
,
No
v
em
b
er
2
0
2
1
:
19
5
–
21
1
200
3.
H
ARDWA
R
E
/SOF
T
WAR
E
CO
-
DE
SI
G
N
O
F
T
H
E
F
UZ
Z
Y
L
O
G
I
C
CO
N
T
RO
L
L
E
R
I
n
th
is
s
ec
tio
n
,
we
d
ep
ict
a
s
y
n
th
esizab
le
h
ar
d
war
e
an
d
s
o
f
twar
e
co
-
d
esig
n
o
f
th
e
p
r
o
p
o
s
ed
f
u
zz
y
co
n
tr
o
ller
d
ed
icate
d
to
b
ei
n
g
ap
p
lied
t
o
th
e
au
to
n
o
m
o
u
s
ca
r
,
wh
ich
is
p
r
esen
ted
i
n
Fig
u
r
e
5
.
Her
ein
,
th
e
co
n
tr
o
l
s
ig
n
al
is
co
n
s
id
er
ed
a
s
a
s
p
ee
d
ex
p
r
ess
ed
in
r
p
m
,
as
m
en
tio
n
ed
ea
r
lier
.
T
h
e
d
es
ig
n
g
en
er
ates
th
r
ee
PW
M
s
ig
n
als
th
at
will
d
r
iv
e
t
h
e
ca
r
lef
t
an
d
r
i
g
h
t
wh
ee
ls
,
a
s
well
as
th
e
s
er
v
o
m
o
to
r
th
at
co
n
tr
o
ls
th
e
f
r
o
n
t
s
teer
in
g
.
Ho
wev
er
,
t
h
e
s
teer
in
g
co
n
tr
o
l is alr
ea
d
y
ac
h
ie
v
ed
[
2
7
]
an
d
h
er
ein
u
s
ed
.
Fig
u
r
e
5
.
T
h
e
au
to
n
o
m
o
u
s
ca
r
[
2
7
]
T
h
e
p
ar
titi
o
n
in
g
o
f
t
h
e
ap
p
li
ca
tio
n
task
s
co
n
s
is
ts
o
f
d
iv
id
in
g
th
em
i
n
to
a
h
a
r
d
war
e
p
ar
t
an
d
a
s
o
f
twar
e
p
ar
t.
I
n
t
h
e
h
a
r
d
war
e
p
ar
t,
we
d
ev
elo
p
ed
th
e
h
a
r
d
war
e
ar
ch
itectu
r
e
o
f
th
e
f
u
z
zy
co
n
t
r
o
ller
I
P
a
n
d
u
s
ed
th
e
I
Ps
o
f
th
e
tem
p
er
atu
r
e
an
d
s
o
n
ar
s
en
s
o
r
s
.
Ho
wev
er
,
th
e
s
o
f
twar
e
p
ar
t
u
s
es
th
e
Z
y
n
q
p
r
o
ce
s
s
o
r
t
o
ac
ce
d
e
th
e
r
eg
is
ter
s
o
f
s
en
s
o
r
s
to
r
ea
d
th
e
d
is
tan
ce
an
d
am
b
i
en
t
tem
p
er
atu
r
e
v
alu
es.
I
t
also
s
en
d
s
th
em
to
th
e
f
u
zz
y
c
o
n
tr
o
ller
,
wh
ic
h
co
m
p
u
tes
th
e
ca
r
s
p
ee
d
ac
co
r
d
in
g
to
th
e
co
n
tr
o
l
s
ig
n
al
an
d
g
en
e
r
ates
th
e
co
r
r
esp
o
n
d
in
g
PW
M
s
ig
n
als.
3
.
1
.
H
a
rdwa
re
des
ig
n
T
h
e
h
ar
d
war
e
d
esig
n
was
d
ev
elo
p
ed
u
s
in
g
VHDL
an
d
s
o
m
e
s
p
ec
if
icatio
n
s
wer
e
m
ad
e
to
ef
f
icien
tly
p
r
o
g
r
a
m
th
e
f
u
zz
y
alg
o
r
ith
m
.
3
.
1
.
1
.
Sp
ec
if
ica
t
io
ns
o
f
t
he
p
ro
g
ra
m
m
ing
pro
ce
s
s
T
o
g
et
a
s
y
n
th
esizab
le
co
d
e
,
we
ad
o
p
t
th
e
h
ex
a
d
ec
im
al
f
o
r
m
at
to
p
r
esen
t
t
h
e
d
ata
v
alu
es.
T
h
u
s
,
th
e
s
ig
n
als h
av
e
th
e
ty
p
e
s
td
_
lo
g
ic
_
v
ec
to
r
wh
e
r
e
th
eir
wid
th
is
ch
o
s
en
as f
o
llo
ws:
−
1
b
y
te
f
o
r
s
ig
n
al
p
o
s
itiv
e
v
alu
es.
−
2
b
y
tes f
o
r
s
ig
n
al,
wh
i
ch
c
an
h
av
e
n
eg
ativ
e
v
alu
es.
−
1
b
y
te
f
o
r
th
e
o
u
tp
u
t sig
n
al.
T
h
er
ef
o
r
e
,
th
e
tr
u
th
d
e
g
r
ee
s
ar
e
b
etwe
en
0
an
d
2
5
5
.
I
n
ad
d
itio
n
,
we
u
s
e
th
e
m
in
-
m
ax
m
eth
o
d
to
co
m
p
u
te
t
h
e
s
ig
n
als
o
f
th
e
f
u
zz
y
o
u
tp
u
t
lin
g
u
is
tic
ter
m
s
(
v
er
y
lo
w,
lo
w,
etc.
)
,
as
well
as
th
e
ce
n
ter
o
f
g
r
av
ity
to
co
m
p
u
te
th
e
co
n
tr
o
l
s
ig
n
al.
T
h
is
latter
i
s
u
s
ed
to
d
eter
m
in
e
t
h
e
PW
M
s
ig
n
al
t
h
at
d
r
iv
es
th
e
ca
r
an
d
t
h
en
it
s
co
r
r
esp
o
n
d
in
g
d
u
ty
c
y
cle.
I
n
d
ee
d
,
ea
ch
o
u
tp
u
t
lin
g
u
is
tic
ter
m
h
as
a
s
p
ec
if
ic
d
u
ty
c
y
cle
wid
th
,
as
r
e
p
o
r
ted
i
n
T
ab
le
3
.
T
h
e
s
y
s
tem
cl
o
ck
f
r
eq
u
en
c
y
an
d
t
h
o
s
e
o
f
th
e
PW
M
s
ig
n
al
ar
e
f
ix
ed
t
o
5
0
MH
z
an
d
1
0
0
k
Hz,
r
esp
ec
tiv
ely
.
T
h
er
e
f
o
r
e,
a
co
u
n
ter
is
u
s
ed
to
co
u
n
t
u
p
to
5
0
0
t
o
r
ea
ch
a
PW
M
p
er
io
d
.
3
.
1
.
2
.
H
a
rdwa
re
a
rc
hite
c
t
ure
o
f
t
he
f
uzzy
c
o
ntr
o
ller
Her
e,
th
e
o
b
jectiv
e
is
to
p
r
ep
a
r
e
an
I
P
th
at
d
escr
ib
es
th
e
o
p
er
atio
n
o
f
t
h
e
f
u
zz
y
co
n
t
r
o
ller
.
T
h
is
was
ac
co
m
p
lis
h
ed
b
y
wr
itin
g
th
e
f
u
zz
y
c
o
n
tr
o
ller
’
s
VHDL
co
d
e
b
ased
o
n
th
e
Ma
m
d
an
i
m
eth
o
d
.
T
h
e
e
n
tity
b
l
o
ck
o
f
th
e
f
u
zz
y
co
n
tr
o
ller
,
as
well
as
i
ts
ar
ch
itectu
r
e,
ar
e
s
h
o
wn
in
Fig
u
r
e
6
.
I
t
is
wo
r
th
n
o
tin
g
th
at
ea
ch
b
lo
ck
co
n
s
is
ts
o
f
a
s
ep
ar
ate
VHDL
m
o
d
u
le,
a
n
d
all
o
f
th
em
a
r
e
in
ter
co
n
n
ec
ted
u
s
in
g
th
e
‘
p
o
r
t m
ap
’
in
s
tr
u
ctio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
F
P
GA
b
a
s
ed
co
-
d
esig
n
o
f
a
s
p
ee
d
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
a
p
p
l
ied
to
a
n
a
u
to
n
o
mo
u
s
c
a
r
(
E
mn
a
A
r
id
h
i)
201
Fig
u
r
e
6
.
Har
d
wa
r
e
ar
ch
itectu
r
e
o
f
th
e
s
p
ee
d
f
u
zz
y
co
n
tr
o
lle
r
I
P
T
h
e
s
p
ee
d
er
r
o
r
v
alu
e
(
s
ig
n
al
E
r
r
s
p
)
is
o
b
tain
e
d
u
s
in
g
a
s
u
b
tr
ac
to
r
,
wh
ich
r
ec
eiv
es
th
e
co
m
p
u
ted
s
p
ee
d
an
d
in
clu
d
es th
e
tar
g
et
s
p
ee
d
as a
n
in
ter
n
al
s
ig
n
al.
Fu
r
th
er
m
o
r
e,
th
e
d
er
iv
ativ
e
s
p
ee
d
er
r
o
r
v
alu
e
(
s
ig
n
a
l
Derr
s
p
)
i
s
co
n
s
id
er
ed
as
th
e
d
if
f
er
en
ce
b
etwe
e
n
th
e
cu
r
r
e
n
t
s
p
ee
d
er
r
o
r
v
alu
e
a
n
d
th
e
p
r
ev
io
u
s
o
n
e
u
s
in
g
a
f
in
ite
s
tate
m
ac
h
in
e.
I
t is p
r
ese
n
ted
in
Fig
u
r
e
7
.
Fig
u
r
e
7
.
Fin
ite
s
tate
m
ac
h
in
e
th
at
co
m
p
u
tes th
e
d
er
iv
ativ
e
e
r
r
o
r
s
p
ee
d
Ho
wev
er
,
th
e
s
ig
n
als
Temp
a
n
d
S
o
n
a
r
r
ef
e
r
to
th
e
m
ea
s
u
r
e
d
v
alu
es
o
f
t
h
e
am
b
ien
t
tem
p
er
atu
r
e
an
d
th
e
d
is
tan
ce
f
r
o
m
th
e
o
b
s
tacle
,
r
esp
ec
tiv
ely
,
u
s
in
g
s
en
s
o
r
s
.
T
h
ese
v
al
u
es
ar
e
u
s
ed
to
c
o
m
p
u
te
t
h
e
co
n
tr
o
l
s
ig
n
al,
an
d
th
e
n
th
e
ca
r
s
p
ee
d
v
alu
e
u
s
in
g
(
5
)
.
[
/
]
=
(
2
.
.
)
60
.
_
[
]
(
5
)
wh
er
e
r
is
th
e
wh
ee
l r
ay
a
n
d
is
eq
u
al
to
3
cm
.
I
t is wo
r
th
n
o
tin
g
th
at
th
e
ca
r
s
p
ee
d
ca
n
m
ax
im
u
m
r
ea
ch
9
0
c
m
/s
f
o
r
a
co
n
tr
o
l v
al
u
e
o
f
3
0
0
r
p
m
.
As
s
h
o
wn
in
T
ab
le
3
,
ea
ch
PW
M
g
en
er
atio
n
b
lo
c
k
g
e
n
er
at
es
a
d
if
f
e
r
en
t
PW
M
co
r
r
esp
o
n
d
in
g
t
o
o
n
e
o
f
th
e
o
u
t
p
u
t
lin
g
u
is
tic
ter
m
s
to
wh
ic
h
th
e
o
u
t
p
u
t
s
ig
n
al
‘
PW
M’
o
f
th
e
f
u
zz
y
co
n
tr
o
lle
r
is
ass
ig
n
ed
.
Fo
r
in
s
tan
ce
,
th
is
s
ig
n
al
is
ass
ig
n
e
d
to
PW
Ml
wh
en
th
e
s
p
ee
d
s
h
o
u
ld
b
e
lo
w.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
6
4
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
10
,
No
.
3
,
No
v
em
b
er
2
0
2
1
:
19
5
–
21
1
202
T
ab
le
3
.
PW
M
s
ig
n
al
o
f
ea
ch
o
u
tp
u
t lin
g
u
is
tic
ter
m
.
O
u
t
p
u
t
l
i
n
g
u
i
st
i
c
t
e
r
ms
D
u
t
y
s
i
g
n
a
l
N
u
mb
e
r
o
f
c
y
c
l
e
s
P
W
M
s
i
g
n
a
l
s
v
e
r
y
l
o
w
D
u
t
y
v
l
2
0
→
4
%
P
W
M
v
l
l
o
w
D
u
t
y
l
1
2
5
→
2
5
%
P
W
M
l
mo
d
e
r
a
t
e
D
u
t
y
m
2
5
0
→
5
0
%
P
W
M
m
h
i
g
h
D
u
t
y
h
3
7
5
→
7
5
%
P
W
M
h
v
e
r
y
h
i
g
h
D
u
t
y
v
h
4
8
0
→
9
6
%
P
W
M
v
h
E
ac
h
Du
ty
s
ig
n
al
(
D
u
tyvl
,
Du
tyl
,
Du
tym
,
Du
tyh
,
an
d
Du
t
yv
h
)
in
d
icate
s
th
e
n
u
m
b
er
o
f
cy
cles
f
o
r
wh
ich
th
e
co
r
r
esp
o
n
d
in
g
PW
M
s
ig
n
al
b
ec
o
m
es
h
ig
h
.
I
t
is
wo
r
th
n
o
tin
g
th
at
th
e
PW
M
p
er
io
d
co
r
r
esp
o
n
d
s
to
5
0
0
cy
cles.
W
e
ass
u
m
e
th
at
th
e
m
ax
im
u
m
s
p
ee
d
r
ate
co
r
r
esp
o
n
d
s
to
o
n
ly
9
6
% f
o
r
s
ec
u
r
ity
m
atter
s
.
T
h
e
alg
o
r
ith
m
d
ev
el
o
p
ed
i
n
th
e
‘
Fu
zz
y
co
n
tr
o
ller
’
b
lo
ck
c
o
n
s
is
t
s
o
f
th
e
f
o
llo
win
g
s
u
cc
ess
iv
e
s
tep
s
:
−
Def
in
in
g
th
e
v
alu
es o
f
th
e
lin
g
u
is
tic
ter
m
s
in
h
ex
ad
ec
im
al
f
o
r
m
at.
Fo
r
ex
am
p
le,
t
h
e
f
ir
s
t two
v
al
u
es o
f
th
e
s
o
n
a
r
s
en
s
o
r
ar
e
d
ef
in
ed
as f
o
llo
ws:
constant
sonp1:STD_LOGIC_VECTOR (7 downto 0):=x"00";
--
0
constant
son
p2
:STD_LOGIC_VECTOR (7 downto 0):=x"01";
--
1
Als
o
,
f
o
r
th
e
tem
p
er
atu
r
e
s
en
s
o
r
,
th
e
f
ir
s
t two
v
alu
es a
r
e:
constant tp1:STD_LOGIC_VECTOR (15 downto 0):=x"FFFB";
--
(
-
5)
constant tp2:STD_LOGIC_VECTOR (15 downto 0):=x"0000";
--
0
−
B
u
ild
in
g
th
e
tr
ian
g
u
lar
m
em
b
er
s
h
ip
f
u
n
ctio
n
o
f
ea
c
h
in
p
u
t
lin
g
u
is
tic
ter
m
u
s
in
g
e
q
u
atio
n
s
o
f
r
is
in
g
a
n
d
f
allin
g
s
lo
p
es.
Fo
r
ex
am
p
le,
th
e
VHDL
c
o
d
e
o
f
co
m
p
u
tin
g
th
e
m
em
b
e
r
s
h
ip
d
e
g
r
ee
‘
m
v
n
ea
r
’
o
f
th
e
lin
g
u
is
tic
ter
m
‘
v
n
ea
r
’
u
s
in
g
th
e
f
allin
g
s
lo
p
e
eq
u
atio
n
is
:
Mvnear<=conv_std_logic_vector(conv_integer(sonar
-
sonp1)/conv_integer(sonp3
-
sonp1),8);
L
ik
ewise,
th
e
VHDL
co
d
e
o
f
co
m
p
u
tin
g
t
h
e
m
em
b
er
s
h
ip
d
eg
r
ee
‘
m
n
ea
r
’
o
f
th
e
lin
g
u
is
tic
ter
m
‘
n
ea
r
’
u
s
in
g
th
e
r
is
in
g
s
lo
p
e
e
q
u
atio
n
is
:
mnear<=conv_std_logic_vector(conv_integer(sonar
-
sonp2)/conv_integer(sonp3
-
sonp2),8);
Dete
r
m
in
atio
n
o
f
th
e
tr
u
th
d
eg
r
ee
o
f
ea
c
h
in
p
u
t lin
g
u
is
tic
ter
m
ac
co
r
d
in
g
to
it
s
m
em
b
e
r
s
h
ip
f
u
n
ctio
n
.
Fo
r
in
s
tan
ce
,
th
e
tr
u
th
d
eg
r
ee
‘
d
v
n
ea
r
’
o
f
th
e
lin
g
u
is
tic
ter
m
‘
v
n
ea
r
’
is
d
eter
m
in
ed
u
s
in
g
th
e
f
o
llo
win
g
VHDL
co
d
e:
if rising_edge(clk)then
---
mvnear
if sonar > sonp3 then
--
sonp3 = 2 m
dvnear <= x"00";
else dvnear
<= x"FF"
-
mvnear;
--
falling slope
end if;
end if;
−
E
lab
o
r
atio
n
o
f
th
e
f
u
zz
y
r
u
les
u
s
in
g
if
-
else
s
tatem
en
ts
.
E
ac
h
r
u
le
r
esu
lt
tak
es
th
e
m
in
im
u
m
in
p
u
t
tr
u
t
h
d
eg
r
ee
.
Fo
r
ex
am
p
le,
th
e
1
8
th
r
u
le
‘
r
1
8
’
d
escr
ib
es
th
e
ca
s
e:
wh
en
th
e
d
is
tan
ce
f
r
o
m
th
e
o
b
s
tacle
is
b
etwe
en
1
an
d
5
m
,
its
o
u
tp
u
t ta
k
es th
e
v
alu
e
o
f
th
e
t
r
u
th
d
eg
r
ee
‘
d
n
ea
r
’
.
T
h
e
c
o
r
r
esp
o
n
d
in
g
VHDL
co
d
e
is
:
if sonar >= sonp2 and sonar < sonp4 then r18 <= "00"& dnear;
--
sonp4 = 5 m
else r18<=(others=>'0');
end if;
I
n
th
is
ca
s
e,
th
e
f
u
zz
y
o
u
tp
u
t o
f
th
e
co
n
t
r
o
ller
s
h
o
u
ld
b
e
ass
ig
n
ed
to
th
e
lin
g
u
is
tic
ter
m
‘
v
e
r
y
lo
w’
.
−
Dete
r
m
in
atio
n
o
f
th
e
o
u
tp
u
t
t
r
u
th
d
eg
r
ee
s
also
u
s
in
g
if
-
els
e
s
tatem
en
ts
.
E
ac
h
o
u
tp
u
t
tr
u
th
d
eg
r
ee
tak
es
th
e
m
ax
im
u
m
r
esu
lt o
f
th
e
f
u
z
zy
r
u
le
u
s
ed
to
d
eter
m
i
n
e
it.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t
I
SS
N:
2089
-
4
8
6
4
F
P
GA
b
a
s
ed
co
-
d
esig
n
o
f
a
s
p
ee
d
fu
z
z
y
lo
g
ic
co
n
tr
o
ller
a
p
p
l
ied
to
a
n
a
u
to
n
o
mo
u
s
c
a
r
(
E
mn
a
A
r
id
h
i)
203
Fo
r
ex
am
p
le,
th
e
tr
u
th
d
e
g
r
e
e
‘
d
cm
o
d
er
ate’
o
f
th
e
o
u
t
p
u
t
lin
g
u
is
tic
ter
m
‘
m
o
d
er
ate’
is
co
m
p
u
te
d
ac
co
r
d
in
g
t
o
th
e
f
u
zz
y
r
u
les
(
r
9
,
r
1
0
,
r
4
3
,
an
d
r
4
4
)
.
E
ac
h
o
f
th
em
h
as
an
o
u
tp
u
t
ass
ig
n
e
d
to
th
is
lin
g
u
is
tic
ter
m
:
if rising_edge(clk)then
if r10 < r9 and r43 < r9 and r44 < r9 then dcmoderate <= r9;
elsif r9 < r10 and r43 < r10 and r44 < r10 then dc
moderate<=r10;
elsif r9 < r43 and r10 < r43 and r44 < r43 then dcmoderate<= r43;
elsif r9 < r44 and r10 < r44 and r43 < r44 then dcmoderate<= r44;
else dcmoderate <= (others=>'0');
end if;
end if;
−
Dete
r
m
in
atio
n
o
f
th
e
co
n
tr
o
l s
ig
n
al
u
s
in
g
eq
u
atio
n
(
3
)
.
−
C
o
m
p
u
tatio
n
o
f
th
e
s
p
ee
d
v
alu
e
u
s
in
g
eq
u
atio
n
(
5
)
.
−
Dete
r
m
in
atio
n
o
f
th
e
PW
M
s
i
g
n
al
ac
co
r
d
in
g
to
th
e
o
b
tain
ed
co
n
tr
o
l.
3
.
1
.
3
.
Co
m
plet
e
ha
rdwa
re
de
s
ig
n o
f
t
he
s
peed
f
uzzy
co
ntr
o
l
T
h
e
d
esig
n
o
f
th
e
s
p
ee
d
co
n
t
r
o
ller
was
p
e
r
f
o
r
m
ed
u
s
in
g
th
e
Xilin
x
Viv
ad
o
Desig
n
Su
i
te
2
0
1
8
.
I
t
in
clu
d
es
th
e
I
P o
f
th
e
f
u
zz
y
co
n
tr
o
ller
(
m
y
ip
FLC_
0
)
,
th
e
Z
y
n
q
p
r
o
ce
s
s
o
r
,
an
d
th
e
s
en
s
o
r
s
,
as
s
h
o
wn
in
Fig
u
r
e
8
.
T
h
e
f
u
zz
y
co
n
tr
o
ller
s
tar
ts
o
p
er
atin
g
wh
en
th
e
en
ab
le
s
ig
n
al
is
h
ig
h
.
İ
t
is
an
asy
n
ch
r
o
n
o
u
s
r
eset
ac
tiv
e
lo
w
(
en
a
b
le
<=
n
o
t r
s
t
).
Fig
u
r
e
8
.
Har
d
wa
r
e
d
esig
n
o
f
th
e
s
p
ee
d
f
u
zz
y
co
n
tr
o
l u
s
in
g
Viv
ad
o
d
esig
n
s
u
ite
T
h
e
am
b
ien
t
tem
p
er
atu
r
e
an
d
th
e
d
is
tan
ce
f
r
o
m
th
e
s
o
n
ar
s
e
n
s
o
r
ar
e
c
o
m
p
u
ted
an
d
r
ea
d
b
y
th
e
Z
y
n
q
p
r
o
ce
s
s
o
r
at
th
e
lev
el
o
f
its
3
2
-
b
it
d
ata
r
e
g
is
ter
s
th
r
o
u
g
h
C
f
iles
.
T
h
e
d
ev
elo
p
m
en
t
o
f
th
ese
f
iles
was
p
er
f
o
r
m
ed
in
th
e
s
o
f
twar
e
s
ec
tio
n
.
T
h
en
,
th
ey
ar
e
s
en
t
to
th
e
f
u
zz
y
co
n
tr
o
ller
th
r
o
u
g
h
th
e
A
XI
b
u
s
t
o
g
en
er
ate
th
e
s
u
itab
le
PW
M
s
ig
n
al
th
at
i
s
d
eter
m
in
ed
b
y
th
e
‘
Fu
zz
y
co
n
tr
o
ller
’
b
lo
ck
p
r
esen
ted
in
Fig
u
r
e
6
.
T
h
is
s
ig
n
al
is
d
r
iv
en
to
ea
c
h
o
f
th
e
o
u
tp
u
t
PW
M
s
ig
n
als
mo
to
r
_
left_
p
w
m_
o
u
t
,
s
ervo
_
p
w
m_
o
u
t
,
a
n
d
mo
to
r
_
r
ig
h
t_
p
w
m_
o
u
t
,
wh
ich
d
r
iv
e
th
e
ca
r
m
o
v
em
e
n
t.
Her
ein
,
th
e
Viv
ad
o
d
esig
n
s
u
ite
ass
i
g
n
s
a
3
2
-
b
it
r
a
n
g
e
o
f
ad
d
r
ess
es
to
r
eg
is
ter
s
o
f
e
ac
h
I
P.
T
h
er
ef
o
r
e,
th
e
Z
y
n
q
p
r
o
ce
s
s
o
r
ca
n
ac
t
o
n
th
e
f
u
zz
y
co
n
tr
o
ller
an
d
th
e
s
en
s
o
r
s
b
y
ac
ce
s
s
in
g
th
eir
r
eg
is
ter
s
th
r
o
u
g
h
th
e
AXI
b
u
s
.
F
o
r
th
e
Z
ed
B
o
ar
d
,
f
o
u
r
s
lav
e
r
eg
is
ter
s
ar
e
d
ef
in
ed
f
o
r
th
e
f
u
zz
y
I
P
.
3
.
2
.
So
f
t
wa
re
des
ig
n
T
h
e
s
o
f
twar
e
d
esig
n
co
n
s
is
ts
o
f
d
ev
elo
p
in
g
th
e
C
f
iles
.
T
h
e
y
allo
w
r
ea
d
in
g
th
e
tem
p
er
atu
r
e
v
alu
e,
as
well
as,
ca
lcu
latin
g
th
e
d
is
tan
ce
f
r
o
m
t
h
e
o
b
s
t
ac
le
ac
co
r
d
in
g
to
th
e
PW
M
s
ig
n
al
g
en
e
r
ated
b
y
th
e
s
o
n
a
r
s
en
s
o
r
.
I
n
d
ee
d
,
a
d
u
ty
wid
th
o
f
1
4
7
u
s
co
r
r
esp
o
n
d
s
to
2
.
5
4
cm
.
No
o
b
s
tacle
is
d
etec
ted
if
t
h
e
d
is
tan
ce
ex
ce
ed
s
6
.
5
m
.
W
e
also
a
d
d
ed
v
a
r
io
u
s
m
ess
ag
es
th
at
th
e
v
eh
icle
m
u
s
t
g
en
er
ate
to
i
n
f
o
r
m
u
s
a
b
o
u
t
t
h
e
s
tate
o
f
its
o
p
er
atio
n
a
n
d
th
e
d
ec
is
io
n
s
th
at
wer
e
m
ad
e,
as e
x
p
lain
ed
in
Fig
u
r
e
9
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4
8
6
4
I
n
t J Reco
n
f
ig
u
r
a
b
le
&
E
m
b
ed
d
ed
Sy
s
t,
Vo
l.
10
,
No
.
3
,
No
v
em
b
er
2
0
2
1
:
19
5
–
21
1
204
Fig
u
r
e
9
.
So
f
twar
e
d
esig
n
task
s
to
s
en
d
d
ata
to
th
e
f
u
zz
y
co
n
tr
o
ller
th
r
o
u
g
h
t
h
e
Z
y
n
q
p
r
o
ce
s
s
o
r
an
d
to
g
et
f
ee
d
b
ac
k
f
r
o
m
th
e
ca
r
T
h
is
s
tep
is
p
er
f
o
r
m
ed
u
s
in
g
t
h
e
Xi
lin
x
SDK
to
o
l
a
f
ter
ex
p
o
r
tin
g
th
e
h
ar
d
war
e
an
d
th
e
b
its
tr
ea
m
f
ile
(
.
b
it).
Af
ter
t
h
at,
th
e
b
u
ild
in
g
o
f
th
e
SDK
p
r
o
ject
allo
ws
th
e
g
en
er
atio
n
o
f
th
e
ex
ec
u
ta
b
le
f
i
le
(
.
elf
)
.
T
h
is
latter
allo
ws
ap
p
ly
in
g
t
h
e
s
o
f
twar
e
ap
p
licatio
n
to
t
h
e
ex
p
o
r
ted
h
a
r
d
war
e
af
ter
l
o
ad
in
g
th
e
c
o
r
r
e
s
p
o
n
d
in
g
b
its
tr
ea
m
in
to
th
e
FP
GA
cir
cu
it to
co
n
f
ig
u
r
e
it.
4.
RE
SU
L
T
S
A
ND
D
I
SCU
SS
I
O
N
4
.
1
.
Sim
ula
t
i
o
n r
esu
lt
s
o
f
t
he
Sim
uli
nk
m
o
del
T
h
e
s
im
u
latio
n
was
ca
r
r
ied
o
u
t
f
o
r
a
tar
g
et
s
p
ee
d
v
a
r
iatio
n
f
r
o
m
3
0
to
4
0
cm
/s
,
a
n
am
b
ien
t
tem
p
er
atu
r
e
eq
u
al
to
2
5
°C
,
an
d
an
o
b
s
tacle
d
is
tan
ce
o
f
6
m
.
I
n
th
is
ca
s
e,
th
e
ca
r
r
ea
ch
e
s
th
e
tar
g
et
s
p
ee
d
,
as
s
h
o
wn
in
Fig
u
r
e
1
0
.
Fig
u
r
e
10
.
C
ar
s
p
ee
d
b
eh
a
v
io
r
wh
en
th
e
am
b
ien
t te
m
p
er
atu
r
e
is
m
o
d
er
ate,
an
d
th
e
o
b
s
tacle
is
f
ar
W
h
en
th
is
d
is
tan
ce
d
e
cr
ea
s
es
b
y
1
m
an
d
th
e
n
b
y
4
m
af
ter
3
0
s
,
th
e
ca
r
s
p
ee
d
also
d
ec
r
e
ases
f
r
o
m
4
0
to
2
7
an
d
1
0
c
m
/s
,
r
esp
ec
tiv
ely
,
as
s
h
o
wn
in
Fig
u
r
e
1
1
(
a)
a
n
d
Fig
u
r
e
11
(
b
)
.
I
n
ca
s
es
wh
er
e
th
e
tem
p
er
atu
r
e
b
ec
o
m
es
h
o
t
(
4
0
°C
)
,
th
e
s
p
ee
d
d
ec
r
ea
s
es
to
8
.
5
cm
/s
an
d
n
o
m
o
r
e
f
o
llo
w
-
u
p
o
f
th
e
tar
g
et
s
p
ee
d
,
as
s
h
o
wn
in
Fig
u
r
e
1
1
(
c)
.
T
h
e
s
am
e
b
eh
av
io
r
is
r
ea
ch
ed
wh
en
,
at
th
e
b
eg
in
n
in
g
,
th
e
o
b
s
tacle
d
is
tan
ce
is
2
m
n
ea
r
o
r
v
er
y
n
e
ar
(
1
m
)
f
r
o
m
th
e
ca
r
.
Ho
wev
er
,
t
h
e
s
p
ee
d
s
tar
ts
b
y
i
n
cr
ea
s
in
g
at
th
e
b
e
g
in
n
in
g
s
ee
n
th
at
th
e
am
b
ien
t
tem
p
e
r
atu
r
e
is
m
o
d
er
ate.
T
h
en
,
th
e
s
p
ee
d
was
im
m
ed
iately
d
ec
r
ea
s
ed
d
u
e
to
th
e
v
er
y
n
ea
r
d
is
tan
ce
b
etwe
en
th
e
o
b
s
tacle
an
d
th
e
ca
r
.
T
h
is
s
ce
n
ar
io
is
illu
s
t
r
ated
in
Fig
u
r
e
1
1
(
d
)
.
C
o
n
s
eq
u
en
tly
,
th
e
f
u
zz
y
co
n
tr
o
ller
’
s
o
p
er
atio
n
c
o
m
p
lie
s
with
th
e
p
r
o
p
o
s
ed
s
p
ec
if
icatio
n
s
.
Evaluation Warning : The document was created with Spire.PDF for Python.